Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Design of an Economic Service Robot Hand Based on Biomimetics and TRIZ

생체 모방학과 트리즈를 이용한 보급형 서비스 로봇 핸드의 설계

  • Ko, Hun-Keon (Graduate School, Dept. of Mechanical Engineering, Korea Univ.) ;
  • Cho, Chang-Hee (Graduate School, Dept. of Mechanical Engineering, Korea Univ.) ;
  • Kim, Kwon-Hee (Dept. of Mechanical Engineering, Korea Univ.)
  • 고훈건 (고려대학교 대학원 기계공학과) ;
  • 조창희 (고려대학교 대학원 기계공학과) ;
  • 김권희 (고려대학교 기계공학과)
  • Received : 2010.05.12
  • Accepted : 2010.09.17
  • Published : 2010.11.01
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Abstract

This work presents a study on the design of an economic service robot hand for tele-presence manipulators. The conceptual design of new robot hand is derived from biomimetics approach. Guided by the analysis of human arm' musculoskeletal structure, the fingers are actuated by cables and actuators in the forearm. High tension in the cables is achieved by screw-nut mechanism driven by DC motors. A set of combination springs is incorporated in each of the screw-nut mechanism for easy control of gripping force. The first prototype revealed difficulties with finger control and coupling problem between gripping force and wrist movement. The solutions to these problems have been derived from the contradiction analysis of TRIZ. The second design has been verified by tests on various objects with different weight and shape for full range of wrist motion.

본 연구에서는 원격 조정 매니퓰레이터에 적용할 수 있는 보급형 서비스 로봇 암을 개발하였다. 생체 모방학을 활용하여 새로운 형태의 로봇 손에 대한 개념을 도출하였다. 손가락과 손목은 인체 팔의 근골격에 분석을 통하여 상박에 설치된 와이어와 액추에이터에 의하여 구동된다. DC 모터에 의해 구동되는 스크류-너트 매커니즘을 통하여 구동 케이블에 높은 장력을 발생시킨다. 파지력의 쉬운 제어를 위하여 스크류-너트 메커니즘에 조합 스프링을 적용하였다. 첫 번째 설계에서 손가락 제어 문제, 손가락과 손목 운동의 간섭 문제가 발견되었다. 트리즈의 모순 분석을 통하여 이러한 문제에 대한 해결안을 도출하였다. 두 번째 설계에 대하여 다양한 형태와 무게의 물체에 관하여 파지와 동작 테스트를 시행하였다.

Keywords

References

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